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16 views5 pages

DT 8

DT

Uploaded by

Sandesh Yadav
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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University Institute of Engineering

Department of Computer Science & Engineering

Experiment:-08

Student Name: Sandesh Kumar UID: 22BEL10027


Branch: BE-EE. Section/Group: 22BEL-301(A)
Semester: Second Date of Performance: 05-05-23
Subject Name: Disruptive Technologies-2 Subject
Code: 22ECH-103

1. Aim of the practical: Design a collision avoidance robot in multi obstacle based environment.

2. Tool Used: Copeliasim

3. Basic Concept/ Command Description:

Coppeliasim:- CoppeliaSim is used for fast algorithm development, factory automation simulations, fast
prototyping and verification, robotics related education, remote monitoring, safety double-checking, as digital
twin, and much more.CoppeliaSim is the name of our new robot simulator.
Its key features are as
follows:
• Its advanced physics engine, which enables users to simulate complex physical interactions between
objects in the environment.
• It has a user-friendly graphic interface that includes a large library of pre-built models and
environments, making it easy for users to quickly get started with simulating their own robotic systems.

Overall, CoppeliaSim is a powerful and versatile tool for simulating and testing robotic systems, and is widely
used in academia and industry for research and development purposes.
University Institute of Engineering
Department of Computer Science & Engineering

5. Observations, Simulation Screen Shots and Discussions:

Steps for Experiment:


1. Add hurdles using primitive cylinder with dimension (0.1,0.1,0.2) to the scene with [Menu
bar→Add→Primitive shape →Cylinder]. Shift the position of this cylinder by selecting the cylinder, go to
position dialog, drag to shift the cylinder. Double click the icon of cylinder make it collidable,detectable and
measurable.Go to dynamic properties dialog and unable body is dynamic. Now copy the cylinder 5 to 6
times and shift the position around the robot.

2. Add Vision sensor with [Add→Vision sensor→perspective type]. Double click the icon of vision sensor and
adjust resolution x/y as 256/256 pixel. Now allign this vision sensor to proximity sensor so that it can
visualise just like camera to see the hurdles.To do so, select vision sensor and sensing nose→go to position
tab→apply to selection.Now do the same thing in orientation tab, now both are in same direction.Now make
sensing nose as parent.
University Institute of Engineering
Department of Computer Science & Engineering

3. Select vision sensor → right click → Add → Floating view. Now right click on Floating view → view
→Associate view with selected viion sensor.

4. We can measure the distance of robot from hurdle with the help of Graph. For this add Graph with[Add →
Graph]. Add this graph to bubbleRob, make bubbleRob as parent.
University Institute of Engineering
Department of Computer Science & Engineering

5. Make it smart robot which can sense the hurdle, can see the hurdle, can measure the distance from the
hurdle for this we need to program this robot. We can program this robot by adding python code to it. Select
bubbleRob → right click →Add → Associated child script → Non-threaded → Python. Do same thing with
vision sensor.

6. Now run the simulation and we can see the robot changing its direction at every hurdle. You can also see
hurdle in floating view. Distance of robot from hurdle is showing in the graph.

6.Result and Summary:


University Institute of Engineering
Department of Computer Science & Engineering

We have used Coppelliasim, a robotics development platform environment to model, program and simulate a
robot which is capable of tracking hurdle and changing its direction. We have achieved this by using several
Motors, Sensors, Wheels, other 3D objects etc. We can measure distance of hurdle from robot using graph. We
can see the objects in front of robot by floating view.

Learning outcomes (What I have learnt):

1. I have learnt about Coppeliasim.

2. I have learnt about Robotics.

3. I have learnt how to make a smart robot that can sense and see the hurdle and change its
direction according to hurdle.

4. I have learnt how to measure distance between robot and hurdle.

Evaluation Grid (To be filled by Faculty):


Sr. No. Parameters Marks Obtained Maximum Marks
1. Worksheet completion 8
including writing learning
objectives/Outcomes. (To
be submitted at the end of
the day)

2. Viva voce 10
3. Conduct 12
Signature of Faculty (with Total Marks Obtained: 30
Date):

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